Image Processing Reference
In-Depth Information
15
Controller Area Networks for
Embedded Systems
. Introduction .........................................
-
CAN in Automotive Applications
●
CAN in Automation
and Embedded Systems
. CANProtocolBasics.................................
-
Physical Layer
●
Frame Format
●
Medium Access Technique
●
Error Management
●
Fault Confinement
●
Communication
Services
●
Implementation
. SchedulabilityAnalysisofCANNetworks............
-
Communication Requirements
●
Schedulability Analysis
●
Usage
. ConsiderationsaboutCAN...........................
-
Advantages
●
Drawbacks
●
Solutions
. Time-TriggeredCAN ................................
-
Main Features
●
Protocol Specification
●
Implementation
. CANopen ............................................
-
CANopen Basics
●
Object Dictionary
●
Process Data
Objects
●
Service Data Objects
●
Other Objects
●
Network
Management
. CANopen Device Profile for Generic I/O Modules . . .
Gianluca Cena
National Research Council
-
Adriano Valenzano
National Research Council
Device Definition
●
Device Behavior
References .................................................
-
15.1 Introduction
Controller area network (CAN) is currently the leading serial bus for embedded control systems.
More than two billion CAN nodes have been sold since the protocol was first introduced.
The history of CAN started more than years ago. At the beginning of the s a group of
engineersatBoschGmbHwaslookingforaserialbussystemsuitableforuseinpassengercars.
The most popular solutions adopted at that time were considered inadequate for the needs of most
automotive applications. he bus system, in fact, had to provide a number of new features that could
hardly be found in the already existing fieldbus architectures. The design of the new proposal also
involved several academic partners and had the support of Intel, as the potential main semiconductor
producer.
The new communication protocol was presented officially in with the name of “Auto-
motive Serial Controller Area Network” at the SAE congress held in Detroit. It was based on a
multi-master access scheme to the shared medium that resembled the well-known carrier sense
